forked from cesar.alejandro/oscillation_ctrl
72 lines
1.7 KiB
XML
72 lines
1.7 KiB
XML
<?xml version="1.0"?>
|
|
<!--
|
|
Launch file to use klausen oscillaton damping ctrl in Gazebo
|
|
/-->
|
|
<launch>
|
|
<arg name="model" default="headless_spiri_mocap"/>
|
|
<arg name="ctrl" default="yes"/>
|
|
<group ns="sim"> <!--> should be mocap but will use gazebo since it is still sim <-->
|
|
<rosparam file="$(find oscillation_ctrl)/config/gazebo_config.yaml"/>
|
|
</group>
|
|
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="MoCap_Localization_fake.py"
|
|
name="fakeMocap_node"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
<!-- DETERMINES DESIRED POSITION -->
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="wpoint_tracker.py"
|
|
name="waypoints_server"
|
|
/>
|
|
<group if="$(eval ctrl == 'no')">
|
|
<group ns="status">
|
|
<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
|
|
</group>
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="offb_node"
|
|
name="offb_node"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
</group>
|
|
<!-- RUNS WITH CRTL -->
|
|
<group if="$(eval ctrl =='yes')">
|
|
<group ns="status">
|
|
<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
|
|
</group>
|
|
<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="ref_signalGen.py"
|
|
name="refSignal_node"
|
|
/>
|
|
<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="klausen_control.py"
|
|
name="klausenCtrl_node"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
<!-- PUBLISHES DESIRED COMMANDS -->
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="mocap_pathFollow_node"
|
|
name="mocap_pathFollow_node"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
<!-- RUNS TEST -->
|
|
<node
|
|
pkg="oscillation_ctrl"
|
|
type="mocap_runTest.py"
|
|
name="mocap_Test"
|
|
launch-prefix="xterm -e"
|
|
/>
|
|
</group>
|
|
<!-- PX4 LAUNCH -->
|
|
<include file="$(find px4)/launch/$(arg model).launch"/>
|
|
</launch>
|
|
|